Optimization of Traffic Efficiency at On-ramps with Connected Automated Vehicles

This paper aims to optimize on-ramp merging processes for connected automated vehicles by utilizing an existing hierarchical control architecture including a decision-maker and an operational controller. The decision-maker employs surrogate linear models to predict future vehicular acceleration analytically and computes a merging sequence to...

Submicroscopic framework to model mixed highway traffic

A Flexible Strategy for Efficient Merging Maneuvers of Connected Automated Vehicles

Merging is a challenging task for automated vehicles. This paper proposes a strategy for connected automated vehicles (CAVs) to guide merging on-ramp vehicles efficiently while ensuring safe interactions with the mainline vehicles. Point-mass kinematic models are used to describe 2-D vehicle motion and receding horizon control is used to...

Comparative assessment of safety indicators for vehicle trajectories on the highway

Safety measurement and analysis have been a challenging and well-researched topic in transportation. Conventionally, surrogate safety measures have been used as safety indicators in simulation models for safety assessment, in control formulations for driver assistance systems, and in data analysis of naturalistic driving studies. However,...

String Stability of Heterogeneous Platoons with Non-connected Automated Vehicles

It is expected that automated vehicles will gradually penetrate on public roads, resulting in mixed traffic in the next decades. This can impact traffic flow operations, especially the roadway capacity and flow stability. It is of paramount<br/>importance to understand and predict the implications of automated driving systems on traffic flow at...

Optimal lane change times and accelerations of autonomous and connected vehicles

This contribution puts forward a flexible approach to model the decision-making or design controller for automated driving systems, where tactical-level lane change decisions and control-level accelerations are jointly evaluated based on iteratively solving an online optimization problem. The key idea is that automated vehicles determine lane...

Design and analysis of full range adaptive cruise control with integrated collision a voidance strategy

Current Full Range Adaptive Cruise Control (FRACC) systems switch between separate adaptive cruise control and collision avoidance systems. This can lead to jerky responses and discomfort during the transition between the two control modes. We propose a Full Range Adaptive Cruise Control (FRACC) design integrating adaptive cruise control and...

Modelling Driver Assitance Systems by Optimal Control

Driver assistance systems support drivers in operating vehicles in a safe, comfortable and efficient way, and thus may induce changes in traffic flow characteristics. This paper put forward a receding horizon control framework to model driver assistance systems. The accelerations of automated vehicles are determined to optimise a cost function,...